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 *
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2013, Dave Coleman, CU Boulder; Jeremy Zoss, SwRI; David Butterworth, KAIST; Mathias Lüdtke, Fraunhofer IPA
 * All rights reserved.
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/*
 * IKFast Plugin Template for moveit
 *
 * AUTO-GENERATED by create_ikfast_moveit_plugin.py in arm_kinematics_tools
 * You should run create_ikfast_moveit_plugin.py to generate your own plugin.
 *
 * Creates a kinematics plugin using the output of IKFast from OpenRAVE.
 * This plugin and the move_group node can be used as a general
 * kinematics service, from within the moveit planning environment, or in
 * your own ROS node.
 *
 */

#include <ros/ros.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <urdf/model.h>
#include <tf_conversions/tf_kdl.h>

// Need a floating point tolerance when checking joint limits, in case the joint starts at limit
const double LIMIT_TOLERANCE = .0000001;
/// \brief Search modes for searchPositionIK(), see there
enum SEARCH_MODE { OPTIMIZE_FREE_JOINT=1, OPTIMIZE_MAX_JOINT=2 };

namespace ikfast_kinematics_plugin
{

#define IKFAST_NO_MAIN // Don't include main() from IKFast

/// \brief The types of inverse kinematics parameterizations supported.
///
/// The minimum degree of freedoms required is set in the upper 4 bits of each type.
/// The number of values used to represent the parameterization ( >= dof ) is the next 4 bits.
/// The lower bits contain a unique id of the type.
enum IkParameterizationType {
    IKP_None=0,
    IKP_Transform6D=0x67000001,     ///< end effector reaches desired 6D transformation
    IKP_Rotation3D=0x34000002,     ///< end effector reaches desired 3D rotation
    IKP_Translation3D=0x33000003,     ///< end effector origin reaches desired 3D translation
    IKP_Direction3D=0x23000004,     ///< direction on end effector coordinate system reaches desired direction
    IKP_Ray4D=0x46000005,     ///< ray on end effector coordinate system reaches desired global ray
    IKP_Lookat3D=0x23000006,     ///< direction on end effector coordinate system points to desired 3D position
    IKP_TranslationDirection5D=0x56000007,     ///< end effector origin and direction reaches desired 3D translation and direction. Can be thought of as Ray IK where the origin of the ray must coincide.
    IKP_TranslationXY2D=0x22000008,     ///< 2D translation along XY plane
    IKP_TranslationXYOrientation3D=0x33000009,     ///< 2D translation along XY plane and 1D rotation around Z axis. The offset of the rotation is measured starting at +X, so at +X is it 0, at +Y it is pi/2.
    IKP_TranslationLocalGlobal6D=0x3600000a,     ///< local point on end effector origin reaches desired 3D global point

    IKP_TranslationXAxisAngle4D=0x4400000b, ///< end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with x-axis  like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)
    IKP_TranslationYAxisAngle4D=0x4400000c, ///< end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with y-axis  like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)
    IKP_TranslationZAxisAngle4D=0x4400000d, ///< end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with z-axis like a cone, angle is from 0-pi. Axes are defined in the manipulator base link's coordinate system.

    IKP_TranslationXAxisAngleZNorm4D=0x4400000e, ///< end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the x-axis (defined in the manipulator base link's coordinate system)
    IKP_TranslationYAxisAngleXNorm4D=0x4400000f, ///< end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to x-axis and be rotated at a certain angle starting from the y-axis (defined in the manipulator base link's coordinate system)
    IKP_TranslationZAxisAngleYNorm4D=0x44000010, ///< end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to y-axis and be rotated at a certain angle starting from the z-axis (defined in the manipulator base link's coordinate system)

    IKP_NumberOfParameterizations=16,     ///< number of parameterizations (does not count IKP_None)

    IKP_VelocityDataBit = 0x00008000, ///< bit is set if the data represents the time-derivate velocity of an IkParameterization
    IKP_Transform6DVelocity = IKP_Transform6D|IKP_VelocityDataBit,
    IKP_Rotation3DVelocity = IKP_Rotation3D|IKP_VelocityDataBit,
    IKP_Translation3DVelocity = IKP_Translation3D|IKP_VelocityDataBit,
    IKP_Direction3DVelocity = IKP_Direction3D|IKP_VelocityDataBit,
    IKP_Ray4DVelocity = IKP_Ray4D|IKP_VelocityDataBit,
    IKP_Lookat3DVelocity = IKP_Lookat3D|IKP_VelocityDataBit,
    IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D|IKP_VelocityDataBit,
    IKP_TranslationXY2DVelocity = IKP_TranslationXY2D|IKP_VelocityDataBit,
    IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D|IKP_VelocityDataBit,
    IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D|IKP_VelocityDataBit,
    IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D|IKP_VelocityDataBit,
    IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D|IKP_VelocityDataBit,
    IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D|IKP_VelocityDataBit,
    IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D|IKP_VelocityDataBit,
    IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D|IKP_VelocityDataBit,
    IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D|IKP_VelocityDataBit,

    IKP_UniqueIdMask = 0x0000ffff, ///< the mask for the unique ids
    IKP_CustomDataBit = 0x00010000, ///< bit is set if the ikparameterization contains custom data, this is only used when serializing the ik parameterizations
};

// Code generated by IKFast56/61
#define isnan std::isnan
#define isinf std::isinf
#include "j2s7s300_robot_arm_ikfast_solver.cpp"

class IKFastKinematicsPlugin : public kinematics::KinematicsBase
{
  std::vector<std::string> joint_names_;
  std::vector<double> joint_min_vector_;
  std::vector<double> joint_max_vector_;
  std::vector<bool> joint_has_limits_vector_;
  std::vector<std::string> link_names_;
  size_t num_joints_;
  std::vector<int> free_params_;
  bool active_; // Internal variable that indicates whether solvers are configured and ready

  const std::vector<std::string>& getJointNames() const { return joint_names_; }
  const std::vector<std::string>& getLinkNames() const { return link_names_; }

public:

  /** @class
   *  @brief Interface for an IKFast kinematics plugin
   */
  IKFastKinematicsPlugin():
    active_(false)
  {
    srand( time(NULL) );
    supported_methods_.push_back(kinematics::DiscretizationMethods::NO_DISCRETIZATION);
    supported_methods_.push_back(kinematics::DiscretizationMethods::ALL_DISCRETIZED);
    supported_methods_.push_back(kinematics::DiscretizationMethods::ALL_RANDOM_SAMPLED);
  }

  /**
   * @brief Given a desired pose of the end-effector, compute the joint angles to reach it
   * @param ik_pose the desired pose of the link
   * @param ik_seed_state an initial guess solution for the inverse kinematics
   * @param solution the solution vector
   * @param error_code an error code that encodes the reason for failure or success
   * @return True if a valid solution was found, false otherwise
   */

  // Returns the first IK solution that is within joint limits, this is called by get_ik() service
  bool getPositionIK(const geometry_msgs::Pose &ik_pose,
                     const std::vector<double> &ik_seed_state,
                     std::vector<double> &solution,
                     moveit_msgs::MoveItErrorCodes &error_code,
                     const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

  /**
   * @brief Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it.
   *
   * This is a default implementation that returns only one solution and so its result is equivalent to calling
   * 'getPositionIK(...)' with a zero initialized seed.
   *
   * @param ik_poses  The desired pose of each tip link
   * @param ik_seed_state an initial guess solution for the inverse kinematics
   * @param solutions A vector of vectors where each entry is a valid joint solution
   * @param result A struct that reports the results of the query
   * @param options An option struct which contains the type of redundancy discretization used. This default
   *                implementation only supports the KinmaticSearches::NO_DISCRETIZATION method; requesting any
   *                other will result in failure.
   * @return True if a valid set of solutions was found, false otherwise.
   */
  bool getPositionIK(const std::vector<geometry_msgs::Pose> &ik_poses,
                             const std::vector<double> &ik_seed_state,
                             std::vector< std::vector<double> >& solutions,
                             kinematics::KinematicsResult& result,
                             const kinematics::KinematicsQueryOptions &options) const;

  /**
   * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it.
   * This particular method is intended for "searching" for a solutions by stepping through the redundancy
   * (or other numerical routines).
   * @param ik_pose the desired pose of the link
   * @param ik_seed_state an initial guess solution for the inverse kinematics
   * @return True if a valid solution was found, false otherwise
   */
  bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                        const std::vector<double> &ik_seed_state,
                        double timeout,
                        std::vector<double> &solution,
                        moveit_msgs::MoveItErrorCodes &error_code,
                        const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

  /**
   * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it.
   * This particular method is intended for "searching" for a solutions by stepping through the redundancy
   * (or other numerical routines).
   * @param ik_pose the desired pose of the link
   * @param ik_seed_state an initial guess solution for the inverse kinematics
   * @param the distance that the redundancy can be from the current position
   * @return True if a valid solution was found, false otherwise
   */
  bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                        const std::vector<double> &ik_seed_state,
                        double timeout,
                        const std::vector<double> &consistency_limits,
                        std::vector<double> &solution,
                        moveit_msgs::MoveItErrorCodes &error_code,
                        const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

  /**
   * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it.
   * This particular method is intended for "searching" for a solutions by stepping through the redundancy
   * (or other numerical routines).
   * @param ik_pose the desired pose of the link
   * @param ik_seed_state an initial guess solution for the inverse kinematics
   * @return True if a valid solution was found, false otherwise
   */
  bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                        const std::vector<double> &ik_seed_state,
                        double timeout,
                        std::vector<double> &solution,
                        const IKCallbackFn &solution_callback,
                        moveit_msgs::MoveItErrorCodes &error_code,
                        const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

  /**
   * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it.
   * This particular method is intended for "searching" for a solutions by stepping through the redundancy
   * (or other numerical routines).  The consistency_limit specifies that only certain redundancy positions
   * around those specified in the seed state are admissible and need to be searched.
   * @param ik_pose the desired pose of the link
   * @param ik_seed_state an initial guess solution for the inverse kinematics
   * @param consistency_limit the distance that the redundancy can be from the current position
   * @return True if a valid solution was found, false otherwise
   */
  bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
                        const std::vector<double> &ik_seed_state,
                        double timeout,
                        const std::vector<double> &consistency_limits,
                        std::vector<double> &solution,
                        const IKCallbackFn &solution_callback,
                        moveit_msgs::MoveItErrorCodes &error_code,
                        const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;

  /**
   * @brief Given a set of joint angles and a set of links, compute their pose
   *
   * @param link_names A set of links for which FK needs to be computed
   * @param joint_angles The state for which FK is being computed
   * @param poses The resultant set of poses (in the frame returned by getBaseFrame())
   * @return True if a valid solution was found, false otherwise
   */
  bool getPositionFK(const std::vector<std::string> &link_names,
                     const std::vector<double> &joint_angles,
                     std::vector<geometry_msgs::Pose> &poses) const;


  /**
   * @brief Sets the discretization value for the redundant joint.
   *
   * Since this ikfast implementation allows for one redundant joint then only the first entry will be in the discretization map will be used.
   * Calling this method replaces previous discretization settings.
   *
   * @param discretization a map of joint indices and discretization value pairs.
   */
  void setSearchDiscretization(const std::map<int,double>& discretization);

  /**
   * @brief Overrides the default method to prevent changing the redundant joints
   */
  bool setRedundantJoints(const std::vector<unsigned int> &redundant_joint_indices);


private:

  bool initialize(const std::string &robot_description,
                  const std::string& group_name,
                  const std::string& base_name,
                  const std::string& tip_name,
                  double search_discretization);

  /**
   * @brief Calls the IK solver from IKFast
   * @return The number of solutions found
   */
  int solve(KDL::Frame &pose_frame, const std::vector<double> &vfree, IkSolutionList<IkReal> &solutions) const;

  /**
   * @brief Gets a specific solution from the set
   */
  void getSolution(const IkSolutionList<IkReal> &solutions, int i, std::vector<double>& solution) const;

  double harmonize(const std::vector<double> &ik_seed_state, std::vector<double> &solution) const;
  //void getOrderedSolutions(const std::vector<double> &ik_seed_state, std::vector<std::vector<double> >& solslist);
  void getClosestSolution(const IkSolutionList<IkReal> &solutions, const std::vector<double> &ik_seed_state, std::vector<double> &solution) const;
  void fillFreeParams(int count, int *array);
  bool getCount(int &count, const int &max_count, const int &min_count) const;

  /**
  * @brief samples the designated redundant joint using the chosen discretization method
  * @param  method              An enumeration flag indicating the discretization method to be used
  * @param  sampled_joint_vals  Sampled joint values for the redundant joint
  * @return True if sampling succeeded.
  */
  bool sampleRedundantJoint(kinematics::DiscretizationMethod method, std::vector<double>& sampled_joint_vals) const;

}; // end class

bool IKFastKinematicsPlugin::initialize(const std::string &robot_description,
                                        const std::string& group_name,
                                        const std::string& base_name,
                                        const std::string& tip_name,
                                        double search_discretization)
{
  setValues(robot_description, group_name, base_name, tip_name, search_discretization);

  ros::NodeHandle node_handle("~/"+group_name);

  std::string robot;
  node_handle.param("robot",robot,std::string());

  // IKFast56/61
  fillFreeParams( GetNumFreeParameters(), GetFreeParameters() );
  num_joints_ = GetNumJoints();

  if(free_params_.size() > 1)
  {
    ROS_FATAL("Only one free joint parameter supported!");
    return false;
  }
  else if(free_params_.size() == 1)
  {
    redundant_joint_indices_.clear();
    redundant_joint_indices_.push_back(free_params_[0]);
    KinematicsBase::setSearchDiscretization(DEFAULT_SEARCH_DISCRETIZATION);
  }

  urdf::Model robot_model;
  std::string xml_string;

  std::string urdf_xml,full_urdf_xml;
  node_handle.param("urdf_xml",urdf_xml,robot_description);
  node_handle.searchParam(urdf_xml,full_urdf_xml);

  ROS_DEBUG_NAMED("ikfast","Reading xml file from parameter server");
  if (!node_handle.getParam(full_urdf_xml, xml_string))
  {
    ROS_FATAL_NAMED("ikfast","Could not load the xml from parameter server: %s", urdf_xml.c_str());
    return false;
  }

  node_handle.param(full_urdf_xml,xml_string,std::string());
  robot_model.initString(xml_string);

  ROS_DEBUG_STREAM_NAMED("ikfast","Reading joints and links from URDF");

  urdf::LinkConstSharedPtr link = robot_model.getLink(getTipFrame());
  while(link->name != base_frame_ && joint_names_.size() <= num_joints_)
  {
    ROS_DEBUG_NAMED("ikfast","Link %s",link->name.c_str());
    link_names_.push_back(link->name);
    urdf::JointSharedPtr joint = link->parent_joint;
    if(joint)
    {
      if (joint->type != urdf::Joint::UNKNOWN && joint->type != urdf::Joint::FIXED)
      {
        ROS_DEBUG_STREAM_NAMED("ikfast","Adding joint " << joint->name );

        joint_names_.push_back(joint->name);
        float lower, upper;
        int hasLimits;
        if ( joint->type != urdf::Joint::CONTINUOUS )
        {
          if(joint->safety)
          {
            lower = joint->safety->soft_lower_limit;
            upper = joint->safety->soft_upper_limit;
          } else {
            lower = joint->limits->lower;
            upper = joint->limits->upper;
          }
          hasLimits = 1;
        }
        else
        {
          lower = -M_PI;
          upper = M_PI;
          hasLimits = 0;
        }
        if(hasLimits)
        {
          joint_has_limits_vector_.push_back(true);
          joint_min_vector_.push_back(lower);
          joint_max_vector_.push_back(upper);
        }
        else
        {
          joint_has_limits_vector_.push_back(false);
          joint_min_vector_.push_back(-M_PI);
          joint_max_vector_.push_back(M_PI);
        }
      }
    } else
    {
      ROS_WARN_NAMED("ikfast","no joint corresponding to %s",link->name.c_str());
    }
    link = link->getParent();
  }

  if(joint_names_.size() != num_joints_)
  {
    ROS_FATAL_STREAM_NAMED("ikfast","Joint numbers mismatch: URDF has " << joint_names_.size() << " and IKFast has " << num_joints_);
    return false;
  }

  std::reverse(link_names_.begin(),link_names_.end());
  std::reverse(joint_names_.begin(),joint_names_.end());
  std::reverse(joint_min_vector_.begin(),joint_min_vector_.end());
  std::reverse(joint_max_vector_.begin(),joint_max_vector_.end());
  std::reverse(joint_has_limits_vector_.begin(), joint_has_limits_vector_.end());

  for(size_t i=0; i <num_joints_; ++i)
    ROS_DEBUG_STREAM_NAMED("ikfast",joint_names_[i] << " " << joint_min_vector_[i] << " " << joint_max_vector_[i] << " " << joint_has_limits_vector_[i]);

  active_ = true;
  return true;
}

void IKFastKinematicsPlugin::setSearchDiscretization(const std::map<int,double>& discretization)
{

  if(discretization.empty())
  {
    ROS_ERROR("The 'discretization' map is empty");
    return;
  }

  if(redundant_joint_indices_.empty())
  {
    ROS_ERROR_STREAM("This group's solver doesn't support redundant joints");
    return;
  }

  if(discretization.begin()->first != redundant_joint_indices_[0])
  {
    std::string redundant_joint = joint_names_[free_params_[0]];
    ROS_ERROR_STREAM("Attempted to discretize a non-redundant joint "<<discretization.begin()->first<<", only joint '"<<
                     redundant_joint<<"' with index " <<redundant_joint_indices_[0]<<" is redundant.");
    return;
  }

  if(discretization.begin()->second <= 0.0)
  {
	  ROS_ERROR_STREAM("Discretization can not takes values that are <= 0");
	  return;
  }


  redundant_joint_discretization_.clear();
  redundant_joint_discretization_[redundant_joint_indices_[0]] = discretization.begin()->second;
}

bool IKFastKinematicsPlugin::setRedundantJoints(const std::vector<unsigned int> &redundant_joint_indices)
{

  ROS_ERROR_STREAM("Changing the redundant joints isn't permitted by this group's solver ");
  return false;
}

int IKFastKinematicsPlugin::solve(KDL::Frame &pose_frame, const std::vector<double> &vfree, IkSolutionList<IkReal> &solutions) const
{
  // IKFast56/61
  solutions.Clear();

  double trans[3];
  trans[0] = pose_frame.p[0];//-.18;
  trans[1] = pose_frame.p[1];
  trans[2] = pose_frame.p[2];

  KDL::Rotation mult;
  KDL::Vector direction;

  switch (GetIkType())
  {
    case IKP_Transform6D:
    case IKP_Translation3D:
      // For **Transform6D**, eerot is 9 values for the 3x3 rotation matrix. For **Translation3D**, these are ignored.

      mult = pose_frame.M;

      double vals[9];
      vals[0] = mult(0,0);
      vals[1] = mult(0,1);
      vals[2] = mult(0,2);
      vals[3] = mult(1,0);
      vals[4] = mult(1,1);
      vals[5] = mult(1,2);
      vals[6] = mult(2,0);
      vals[7] = mult(2,1);
      vals[8] = mult(2,2);

      // IKFast56/61
      ComputeIk(trans, vals, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
      return solutions.GetNumSolutions();

    case IKP_Direction3D:
    case IKP_Ray4D:
    case IKP_TranslationDirection5D:
      // For **Direction3D**, **Ray4D**, and **TranslationDirection5D**, the first 3 values represent the target direction.

      direction = pose_frame.M * KDL::Vector(0, 0, 1);
      ComputeIk(trans, direction.data, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
      return solutions.GetNumSolutions();

    case IKP_TranslationXAxisAngle4D:
    case IKP_TranslationYAxisAngle4D:
    case IKP_TranslationZAxisAngle4D:
      // For **TranslationXAxisAngle4D**, **TranslationYAxisAngle4D**, and **TranslationZAxisAngle4D**, the first value represents the angle.
      ROS_ERROR_NAMED("ikfast", "IK for this IkParameterizationType not implemented yet.");
      return 0;

    case IKP_TranslationLocalGlobal6D:
      // For **TranslationLocalGlobal6D**, the diagonal elements ([0],[4],[8]) are the local translation inside the end effector coordinate system.
      ROS_ERROR_NAMED("ikfast", "IK for this IkParameterizationType not implemented yet.");
      return 0;

    case IKP_Rotation3D:
    case IKP_Lookat3D:
    case IKP_TranslationXY2D:
    case IKP_TranslationXYOrientation3D:
    case IKP_TranslationXAxisAngleZNorm4D:
    case IKP_TranslationYAxisAngleXNorm4D:
    case IKP_TranslationZAxisAngleYNorm4D:
      ROS_ERROR_NAMED("ikfast", "IK for this IkParameterizationType not implemented yet.");
      return 0;

    default:
      ROS_ERROR_NAMED("ikfast", "Unknown IkParameterizationType! Was the solver generated with an incompatible version of Openrave?");
      return 0;
  }
}

void IKFastKinematicsPlugin::getSolution(const IkSolutionList<IkReal> &solutions, int i, std::vector<double>& solution) const
{
  solution.clear();
  solution.resize(num_joints_);

  // IKFast56/61
  const IkSolutionBase<IkReal>& sol = solutions.GetSolution(i);
  std::vector<IkReal> vsolfree( sol.GetFree().size() );
  sol.GetSolution(&solution[0],vsolfree.size()>0?&vsolfree[0]:NULL);

  // std::cout << "solution " << i << ":" ;
  // for(int j=0;j<num_joints_; ++j)
  //   std::cout << " " << solution[j];
  // std::cout << std::endl;

  //ROS_ERROR("%f %d",solution[2],vsolfree.size());
}

double IKFastKinematicsPlugin::harmonize(const std::vector<double> &ik_seed_state, std::vector<double> &solution) const
{
  double dist_sqr = 0;
  std::vector<double> ss = ik_seed_state;
  for(size_t i=0; i< ik_seed_state.size(); ++i)
  {
    while(ss[i] > 2*M_PI) {
      ss[i] -= 2*M_PI;
    }
    while(ss[i] < 2*M_PI) {
      ss[i] += 2*M_PI;
    }
    while(solution[i] > 2*M_PI) {
      solution[i] -= 2*M_PI;
    }
    while(solution[i] < 2*M_PI) {
      solution[i] += 2*M_PI;
    }
    dist_sqr += fabs(ik_seed_state[i] - solution[i]);
  }
  return dist_sqr;
}

// void IKFastKinematicsPlugin::getOrderedSolutions(const std::vector<double> &ik_seed_state,
//                                  std::vector<std::vector<double> >& solslist)
// {
//   std::vector<double>
//   double mindist = 0;
//   int minindex = -1;
//   std::vector<double> sol;
//   for(size_t i=0;i<solslist.size();++i){
//     getSolution(i,sol);
//     double dist = harmonize(ik_seed_state, sol);
//     //std::cout << "dist[" << i << "]= " << dist << std::endl;
//     if(minindex == -1 || dist<mindist){
//       minindex = i;
//       mindist = dist;
//     }
//   }
//   if(minindex >= 0){
//     getSolution(minindex,solution);
//     harmonize(ik_seed_state, solution);
//     index = minindex;
//   }
// }

void IKFastKinematicsPlugin::getClosestSolution(const IkSolutionList<IkReal> &solutions, const std::vector<double> &ik_seed_state, std::vector<double> &solution) const
{
  double mindist = DBL_MAX;
  int minindex = -1;
  std::vector<double> sol;

  // IKFast56/61
  for(size_t i=0; i < solutions.GetNumSolutions(); ++i)
  {
    getSolution(solutions, i,sol);
    double dist = harmonize(ik_seed_state, sol);
    ROS_INFO_STREAM_NAMED("ikfast","Dist " << i << " dist " << dist);
    //std::cout << "dist[" << i << "]= " << dist << std::endl;
    if(minindex == -1 || dist<mindist){
      minindex = i;
      mindist = dist;
    }
  }
  if(minindex >= 0){
    getSolution(solutions, minindex,solution);
    harmonize(ik_seed_state, solution);
  }
}

void IKFastKinematicsPlugin::fillFreeParams(int count, int *array)
{
  free_params_.clear();
  for(int i=0; i<count;++i) free_params_.push_back(array[i]);
}

bool IKFastKinematicsPlugin::getCount(int &count, const int &max_count, const int &min_count) const
{
  if(count > 0)
  {
    if(-count >= min_count)
    {
      count = -count;
      return true;
    }
    else if(count+1 <= max_count)
    {
      count = count+1;
      return true;
    }
    else
    {
      return false;
    }
  }
  else
  {
    if(1-count <= max_count)
    {
      count = 1-count;
      return true;
    }
    else if(count-1 >= min_count)
    {
      count = count -1;
      return true;
    }
    else
      return false;
  }
}

bool IKFastKinematicsPlugin::getPositionFK(const std::vector<std::string> &link_names,
                                           const std::vector<double> &joint_angles,
                                           std::vector<geometry_msgs::Pose> &poses) const
{
  if (GetIkType() != IKP_Transform6D) {
    // ComputeFk() is the inverse function of ComputeIk(), so the format of
    // eerot differs depending on IK type. The Transform6D IK type is the only
    // one for which a 3x3 rotation matrix is returned, which means we can only
    // compute FK for that IK type.
    ROS_ERROR_NAMED("ikfast", "Can only compute FK for Transform6D IK type!");
    return false;
  }

  KDL::Frame p_out;
  if(link_names.size() == 0) {
    ROS_WARN_STREAM_NAMED("ikfast","Link names with nothing");
    return false;
  }

  if(link_names.size()!=1 || link_names[0]!=getTipFrame()){
    ROS_ERROR_NAMED("ikfast","Can compute FK for %s only",getTipFrame().c_str());
    return false;
  }

  bool valid = true;

  IkReal eerot[9],eetrans[3];
  IkReal angles[joint_angles.size()];
  for (unsigned char i=0; i < joint_angles.size(); i++)
    angles[i] = joint_angles[i];

  // IKFast56/61
  ComputeFk(angles,eetrans,eerot);

  for(int i=0; i<3;++i)
    p_out.p.data[i] = eetrans[i];

  for(int i=0; i<9;++i)
    p_out.M.data[i] = eerot[i];

  poses.resize(1);
  tf::poseKDLToMsg(p_out,poses[0]);

  return valid;
}

bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                           const std::vector<double> &ik_seed_state,
                                           double timeout,
                                           std::vector<double> &solution,
                                           moveit_msgs::MoveItErrorCodes &error_code,
                                           const kinematics::KinematicsQueryOptions &options) const
{
  const IKCallbackFn solution_callback = 0;
  std::vector<double> consistency_limits;

  return searchPositionIK(ik_pose,
                          ik_seed_state,
                          timeout,
                          consistency_limits,
                          solution,
                          solution_callback,
                          error_code,
                          options);
}

bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                           const std::vector<double> &ik_seed_state,
                                           double timeout,
                                           const std::vector<double> &consistency_limits,
                                           std::vector<double> &solution,
                                           moveit_msgs::MoveItErrorCodes &error_code,
                                           const kinematics::KinematicsQueryOptions &options) const
{
  const IKCallbackFn solution_callback = 0;
  return searchPositionIK(ik_pose,
                          ik_seed_state,
                          timeout,
                          consistency_limits,
                          solution,
                          solution_callback,
                          error_code,
                          options);
}

bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                           const std::vector<double> &ik_seed_state,
                                           double timeout,
                                           std::vector<double> &solution,
                                           const IKCallbackFn &solution_callback,
                                           moveit_msgs::MoveItErrorCodes &error_code,
                                           const kinematics::KinematicsQueryOptions &options) const
{
  std::vector<double> consistency_limits;
  return searchPositionIK(ik_pose,
                          ik_seed_state,
                          timeout,
                          consistency_limits,
                          solution,
                          solution_callback,
                          error_code,
                          options);
}

bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
                                              const std::vector<double> &ik_seed_state,
                                              double timeout,
                                              const std::vector<double> &consistency_limits,
                                              std::vector<double> &solution,
                                              const IKCallbackFn &solution_callback,
                                              moveit_msgs::MoveItErrorCodes &error_code,
                                              const kinematics::KinematicsQueryOptions &options) const
{
  ROS_DEBUG_STREAM_NAMED("ikfast","searchPositionIK");

  /// search_mode is currently fixed during code generation
  SEARCH_MODE search_mode = OPTIMIZE_MAX_JOINT;

  // Check if there are no redundant joints
  if(free_params_.size()==0)
  {
    ROS_DEBUG_STREAM_NAMED("ikfast","No need to search since no free params/redundant joints");

    // Find first IK solution, within joint limits
    if(!getPositionIK(ik_pose, ik_seed_state, solution, error_code))
    {
      ROS_DEBUG_STREAM_NAMED("ikfast","No solution whatsoever");
      error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION;
      return false;
    }

    // check for collisions if a callback is provided
    if( !solution_callback.empty() )
    {
      solution_callback(ik_pose, solution, error_code);
      if(error_code.val == moveit_msgs::MoveItErrorCodes::SUCCESS)
      {
        ROS_DEBUG_STREAM_NAMED("ikfast","Solution passes callback");
        return true;
      }
      else
      {
        ROS_DEBUG_STREAM_NAMED("ikfast","Solution has error code " << error_code);
        return false;
      }
    }
    else
    {
      return true; // no collision check callback provided
    }
  }

  // -------------------------------------------------------------------------------------------------
  // Error Checking
  if(!active_)
  {
    ROS_ERROR_STREAM_NAMED("ikfast","Kinematics not active");
    error_code.val = error_code.NO_IK_SOLUTION;
    return false;
  }

  if(ik_seed_state.size() != num_joints_)
  {
    ROS_ERROR_STREAM_NAMED("ikfast","Seed state must have size " << num_joints_ << " instead of size " << ik_seed_state.size());
    error_code.val = error_code.NO_IK_SOLUTION;
    return false;
  }

  if(!consistency_limits.empty() && consistency_limits.size() != num_joints_)
  {
    ROS_ERROR_STREAM_NAMED("ikfast","Consistency limits be empty or must have size " << num_joints_ << " instead of size " << consistency_limits.size());
    error_code.val = error_code.NO_IK_SOLUTION;
    return false;
  }


  // -------------------------------------------------------------------------------------------------
  // Initialize

  KDL::Frame frame;
  tf::poseMsgToKDL(ik_pose,frame);

  std::vector<double> vfree(free_params_.size());

  ros::Time maxTime = ros::Time::now() + ros::Duration(timeout);
  int counter = 0;

  double initial_guess = ik_seed_state[free_params_[0]];
  vfree[0] = initial_guess;

  // -------------------------------------------------------------------------------------------------
  // Handle consitency limits if needed
  int num_positive_increments;
  int num_negative_increments;

  if(!consistency_limits.empty())
  {
    // moveit replaced consistency_limit (scalar) w/ consistency_limits (vector)
    // Assume [0]th free_params element for now.  Probably wrong.
    double max_limit = fmin(joint_max_vector_[free_params_[0]], initial_guess+consistency_limits[free_params_[0]]);
    double min_limit = fmax(joint_min_vector_[free_params_[0]], initial_guess-consistency_limits[free_params_[0]]);

    num_positive_increments = (int)((max_limit-initial_guess)/search_discretization_);
    num_negative_increments = (int)((initial_guess-min_limit)/search_discretization_);
  }
  else // no consitency limits provided
  {
    num_positive_increments = (joint_max_vector_[free_params_[0]]-initial_guess)/search_discretization_;
    num_negative_increments = (initial_guess-joint_min_vector_[free_params_[0]])/search_discretization_;
  }

  // -------------------------------------------------------------------------------------------------
  // Begin searching

  ROS_DEBUG_STREAM_NAMED("ikfast","Free param is " << free_params_[0] << " initial guess is " << initial_guess << ", # positive increments: " << num_positive_increments << ", # negative increments: " << num_negative_increments);
  if ((search_mode & OPTIMIZE_MAX_JOINT) && (num_positive_increments + num_negative_increments) > 1000)
      ROS_WARN_STREAM_ONCE_NAMED("ikfast", "Large search space, consider increasing the search discretization");

  double best_costs = -1.0;
  std::vector<double> best_solution;
  int nattempts = 0, nvalid = 0;

  while(true)
  {
    IkSolutionList<IkReal> solutions;
    int numsol = solve(frame,vfree, solutions);

    ROS_DEBUG_STREAM_NAMED("ikfast","Found " << numsol << " solutions from IKFast");

    //ROS_INFO("%f",vfree[0]);

    if( numsol > 0 )
    {
      for(int s = 0; s < numsol; ++s)
      {
        nattempts++;
        std::vector<double> sol;
        getSolution(solutions,s,sol);

        bool obeys_limits = true;
        for(unsigned int i = 0; i < sol.size(); i++)
        {
          if(joint_has_limits_vector_[i] && (sol[i] < joint_min_vector_[i] || sol[i] > joint_max_vector_[i]))
          {
            obeys_limits = false;
            break;
          }
          //ROS_INFO_STREAM_NAMED("ikfast","Num " << i << " value " << sol[i] << " has limits " << joint_has_limits_vector_[i] << " " << joint_min_vector_[i] << " " << joint_max_vector_[i]);
        }
        if(obeys_limits)
        {
          getSolution(solutions,s,solution);

          // This solution is within joint limits, now check if in collision (if callback provided)
          if(!solution_callback.empty())
          {
            solution_callback(ik_pose, solution, error_code);
          }
          else
          {
            error_code.val = error_code.SUCCESS;
          }

          if(error_code.val == error_code.SUCCESS)
          {
            nvalid++;
            if (search_mode & OPTIMIZE_MAX_JOINT)
            {
              // Costs for solution: Largest joint motion
              double costs = 0.0;
              for(unsigned int i = 0; i < solution.size(); i++)
              {
                double d = fabs(ik_seed_state[i] - solution[i]);
                if (d > costs)
                  costs = d;
              }
              if (costs < best_costs || best_costs == -1.0)
              {
                best_costs = costs;
                best_solution = solution;
              }
            }
            else
              // Return first feasible solution
              return true;
          }
        }
      }
    }

    if(!getCount(counter, num_positive_increments, -num_negative_increments))
    {
      // Everything searched
      error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION;
      break;
    }

    vfree[0] = initial_guess+search_discretization_*counter;
    //ROS_DEBUG_STREAM_NAMED("ikfast","Attempt " << counter << " with 0th free joint having value " << vfree[0]);
  }

  ROS_DEBUG_STREAM_NAMED("ikfast", "Valid solutions: " << nvalid << "/" << nattempts);

  if ((search_mode & OPTIMIZE_MAX_JOINT) && best_costs != -1.0)
  {
    solution = best_solution;
    error_code.val = error_code.SUCCESS;
    return true;
  }

  // No solution found
  error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION;
  return false;
}

// Used when there are no redundant joints - aka no free params
bool IKFastKinematicsPlugin::getPositionIK(const geometry_msgs::Pose &ik_pose,
                                           const std::vector<double> &ik_seed_state,
                                           std::vector<double> &solution,
                                           moveit_msgs::MoveItErrorCodes &error_code,
                                           const kinematics::KinematicsQueryOptions &options) const
{
  ROS_DEBUG_STREAM_NAMED("ikfast","getPositionIK");

  if(!active_)
  {
    ROS_ERROR("kinematics not active");
    return false;
  }

  std::vector<double> vfree(free_params_.size());
  for(std::size_t i = 0; i < free_params_.size(); ++i)
  {
    int p = free_params_[i];
    ROS_ERROR("%u is %f",p,ik_seed_state[p]);  // DTC
    vfree[i] = ik_seed_state[p];
  }

  KDL::Frame frame;
  tf::poseMsgToKDL(ik_pose,frame);

  IkSolutionList<IkReal> solutions;
  int numsol = solve(frame,vfree,solutions);

  ROS_DEBUG_STREAM_NAMED("ikfast","Found " << numsol << " solutions from IKFast");

  if(numsol)
  {
    for(int s = 0; s < numsol; ++s)
    {
      std::vector<double> sol;
      getSolution(solutions,s,sol);
      ROS_DEBUG_NAMED("ikfast","Sol %d: %e   %e   %e   %e   %e   %e", s, sol[0], sol[1], sol[2], sol[3], sol[4], sol[5]);

      bool obeys_limits = true;
      for(unsigned int i = 0; i < sol.size(); i++)
      {
        // Add tolerance to limit check
        if(joint_has_limits_vector_[i] && ( (sol[i] < (joint_min_vector_[i]-LIMIT_TOLERANCE)) ||
                                            (sol[i] > (joint_max_vector_[i]+LIMIT_TOLERANCE)) ) )
        {
          // One element of solution is not within limits
          obeys_limits = false;
          ROS_DEBUG_STREAM_NAMED("ikfast","Not in limits! " << i << " value " << sol[i] << " has limit: " << joint_has_limits_vector_[i] << "  being  " << joint_min_vector_[i] << " to " << joint_max_vector_[i]);
          break;
        }
      }
      if(obeys_limits)
      {
        // All elements of solution obey limits
        getSolution(solutions,s,solution);
        error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS;
        return true;
      }
    }
  }
  else
  {
    ROS_DEBUG_STREAM_NAMED("ikfast","No IK solution");
  }

  error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION;
  return false;
}

bool IKFastKinematicsPlugin::getPositionIK(const std::vector<geometry_msgs::Pose> &ik_poses,
                                           const std::vector<double> &ik_seed_state,
                                           std::vector< std::vector<double> >& solutions,
                                           kinematics::KinematicsResult& result,
                                           const kinematics::KinematicsQueryOptions &options) const
{
  ROS_DEBUG_STREAM_NAMED("ikfast","getPositionIK with multiple solutions");

  if(!active_)
  {
    ROS_ERROR("kinematics not active");
    result.kinematic_error = kinematics::KinematicErrors::SOLVER_NOT_ACTIVE;
    return false;
  }

  if(ik_poses.empty())
  {
    ROS_ERROR("ik_poses is empty");
    result.kinematic_error = kinematics::KinematicErrors::EMPTY_TIP_POSES;
    return false;
  }

  if(ik_poses.size() > 1)
  {
    ROS_ERROR("ik_poses contains multiple entries, only one is allowed");
    result.kinematic_error = kinematics::KinematicErrors::MULTIPLE_TIPS_NOT_SUPPORTED;
    return false;
  }

  if(ik_seed_state.size() < num_joints_)
  {
    ROS_ERROR_STREAM("ik_seed_state only has "<<ik_seed_state.size()<<" entries, this ikfast solver requires "<<num_joints_);
    return false;
  }

  KDL::Frame frame;
  tf::poseMsgToKDL(ik_poses[0],frame);

  // solving ik
  std::vector< IkSolutionList<IkReal> > solution_set;
  IkSolutionList<IkReal> ik_solutions;
  std::vector<double> vfree;
  int numsol = 0;
  std::vector<double> sampled_joint_vals;
  if(!redundant_joint_indices_.empty())
  {
    // initializing from seed
    sampled_joint_vals.push_back(ik_seed_state[redundant_joint_indices_[0]]);

    // checking joint limits when using no discretization
    if(options.discretization_method == kinematics::DiscretizationMethods::NO_DISCRETIZATION &&
        joint_has_limits_vector_[redundant_joint_indices_.front()])
    {
      double joint_min = joint_min_vector_[redundant_joint_indices_.front()];
      double joint_max = joint_max_vector_[redundant_joint_indices_.front()];

      double jv = sampled_joint_vals[0];
      if(!( (jv > (joint_min - LIMIT_TOLERANCE)) && (jv < (joint_max + LIMIT_TOLERANCE)) ))
      {
        result.kinematic_error = kinematics::KinematicErrors::IK_SEED_OUTSIDE_LIMITS;
        ROS_ERROR_STREAM("ik seed is out of bounds");
        return false;
      }

    }


    // computing all solutions sets for each sampled value of the redundant joint
    if(!sampleRedundantJoint(options.discretization_method,sampled_joint_vals))
    {
      result.kinematic_error = kinematics::KinematicErrors::UNSUPORTED_DISCRETIZATION_REQUESTED;
      return false;
    }

    for(unsigned int i = 0; i < sampled_joint_vals.size(); i++)
    {
      vfree.clear();
      vfree.push_back(sampled_joint_vals[i]);
      numsol += solve(frame,vfree,ik_solutions);
      solution_set.push_back(ik_solutions);
    }
  }
  else
  {
    // computing for single solution set
    numsol = solve(frame,vfree,ik_solutions);
    solution_set.push_back(ik_solutions);
  }

  ROS_DEBUG_STREAM_NAMED("ikfast","Found " << numsol << " solutions from IKFast");
  bool solutions_found = false;
  if( numsol > 0 )
  {
    /*
      Iterating through all solution sets and storing those that do not exceed joint limits.
    */
    for(unsigned int r = 0; r < solution_set.size() ; r++)
    {

      ik_solutions = solution_set[r];
      numsol = ik_solutions.GetNumSolutions();
      for(int s = 0; s < numsol; ++s)
      {
        std::vector<double> sol;
        getSolution(ik_solutions,s,sol);

        bool obeys_limits = true;
        for(unsigned int i = 0; i < sol.size(); i++)
        {
          // Add tolerance to limit check
          if(joint_has_limits_vector_[i] && ( (sol[i] < (joint_min_vector_[i]-LIMIT_TOLERANCE)) ||
                                              (sol[i] > (joint_max_vector_[i]+LIMIT_TOLERANCE)) ) )
          {
            // One element of solution is not within limits
            obeys_limits = false;
            ROS_DEBUG_STREAM_NAMED("ikfast","Not in limits! " << i << " value " << sol[i] << " has limit: " << joint_has_limits_vector_[i] << "  being  " << joint_min_vector_[i] << " to " << joint_max_vector_[i]);
            break;
          }
        }
        if(obeys_limits)
        {
          // All elements of solution obey limits
          solutions_found = true;
          solutions.push_back(sol);
        }
      }
    }

    if(solutions_found)
    {
      result.kinematic_error = kinematics::KinematicErrors::OK;
      return true;
    }
  }
  else
  {
    ROS_DEBUG_STREAM_NAMED("ikfast","No IK solution");
  }

  result.kinematic_error = kinematics::KinematicErrors::NO_SOLUTION;
  return false;
}

bool IKFastKinematicsPlugin::sampleRedundantJoint(kinematics::DiscretizationMethod method, std::vector<double>& sampled_joint_vals) const
{
  double joint_min = -M_PI;
  double joint_max = M_PI;
  int index =  redundant_joint_indices_.front();
  double joint_dscrt = redundant_joint_discretization_.at(index);

  if(joint_has_limits_vector_[redundant_joint_indices_.front()])
  {
    joint_min = joint_min_vector_[index];
    joint_max = joint_max_vector_[index];
  }


  switch(method)
  {
    case kinematics::DiscretizationMethods::ALL_DISCRETIZED:
    {
      int steps = std::ceil((joint_max - joint_min)/joint_dscrt);
      for(unsigned int i = 0; i < steps;i++)
      {
        sampled_joint_vals.push_back(joint_min + joint_dscrt*i);
      }
      sampled_joint_vals.push_back(joint_max);
    }
      break;
    case kinematics::DiscretizationMethods::ALL_RANDOM_SAMPLED:
    {
      int steps = std::ceil((joint_max - joint_min)/joint_dscrt);
      steps = steps > 0 ? steps : 1;
      double diff = joint_max - joint_min;
      for(int i = 0; i < steps; i++)
      {
        sampled_joint_vals.push_back( ((diff*std::rand())/(static_cast<double>(RAND_MAX))) + joint_min );
      }
    }

      break;
    case kinematics::DiscretizationMethods::NO_DISCRETIZATION:

      break;
    default:
      ROS_ERROR_STREAM("Discretization method "<<method<<" is not supported");
      return false;
  }

  return true;
}


} // end namespace

//register IKFastKinematicsPlugin as a KinematicsBase implementation
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(ikfast_kinematics_plugin::IKFastKinematicsPlugin, kinematics::KinematicsBase);
